function [out_SINI, auxout_SINI] = sdinertnavint_cg(SpecVelInc, AngleInc, dTINS, InitCon_LLA, CBL, g)

persistent p_SINI

if isempty(p_SINI)
    p_SINI = SdInertNavInt('Cfg_UseDCMInAttCalc', true, 'Cfg_UseHiResPosNSCal', true, ...
        'Cfg_NavCoordType', NavCoordType.GEO, 'Par_Tl', dTINS, 'Par_C', zeros(1, 3), ...
        'InitCon_LLA_n', InitCon_LLA, 'InitCon_LLA_n1', InitCon_LLA, ...
        'InitCon_vN_m', zeros(3, 1), 'InitCon_vN_m1', zeros(3, 1), 'InitCon_vN_n1', zeros(3, 1), ...
        'InitCon_CBL', CBL, 'InitCon_g', g, ...
        'InitCon_specVelInc_lx', SpecVelInc, 'InitCon_angleInc_lx', AngleInc);
end

[out_SINI, auxout_SINI] = p_SINI.step(SpecVelInc, AngleInc, g, NaN, NaN(3, 3, 1), NaN(1), ...
    NaN(3, 1), NaN(3, 3, 1), NaN(1, 4), NaN(3, 1), NaN(3, 1), NaN(3, 1));
end